diff --git a/esphome/components/slow_pwm/output.py b/esphome/components/slow_pwm/output.py
index 0ce1c9f9e2..9cce35254b 100644
--- a/esphome/components/slow_pwm/output.py
+++ b/esphome/components/slow_pwm/output.py
@@ -15,6 +15,7 @@ slow_pwm_ns = cg.esphome_ns.namespace("slow_pwm")
 SlowPWMOutput = slow_pwm_ns.class_("SlowPWMOutput", output.FloatOutput, cg.Component)
 
 CONF_STATE_CHANGE_ACTION = "state_change_action"
+CONF_RESTART_CYCLE_ON_STATE_CHANGE = "restart_cycle_on_state_change"
 
 CONFIG_SCHEMA = output.FLOAT_OUTPUT_SCHEMA.extend(
     {
@@ -37,6 +38,7 @@ CONFIG_SCHEMA = output.FLOAT_OUTPUT_SCHEMA.extend(
             cv.positive_time_period_milliseconds,
             cv.Range(min=core.TimePeriod(milliseconds=100)),
         ),
+        cv.Optional(CONF_RESTART_CYCLE_ON_STATE_CHANGE, default=False): cv.boolean,
     }
 ).extend(cv.COMPONENT_SCHEMA)
 
@@ -63,3 +65,8 @@ async def to_code(config):
         )
 
     cg.add(var.set_period(config[CONF_PERIOD]))
+    cg.add(
+        var.set_restart_cycle_on_state_change(
+            config[CONF_RESTART_CYCLE_ON_STATE_CHANGE]
+        )
+    )
diff --git a/esphome/components/slow_pwm/slow_pwm_output.cpp b/esphome/components/slow_pwm/slow_pwm_output.cpp
index 573adbe3dc..9cfeb54153 100644
--- a/esphome/components/slow_pwm/slow_pwm_output.cpp
+++ b/esphome/components/slow_pwm/slow_pwm_output.cpp
@@ -18,6 +18,12 @@ void SlowPWMOutput::set_output_state_(bool new_state) {
     this->pin_->digital_write(new_state);
   }
   if (new_state != current_state_) {
+    if (this->pin_) {
+      ESP_LOGV(TAG, "Switching output pin %s to %s", this->pin_->dump_summary().c_str(), ONOFF(new_state));
+    } else {
+      ESP_LOGV(TAG, "Switching to %s", ONOFF(new_state));
+    }
+
     if (this->state_change_trigger_) {
       this->state_change_trigger_->trigger(new_state);
     }
@@ -36,16 +42,12 @@ void SlowPWMOutput::loop() {
   uint32_t now = millis();
   float scaled_state = this->state_ * this->period_;
 
-  if (now - this->period_start_time_ >= this->period_) {
+  if (now >= this->period_start_time_ + this->period_) {
     ESP_LOGVV(TAG, "End of period. State: %f, Scaled state: %f", this->state_, scaled_state);
     this->period_start_time_ += this->period_;
   }
 
-  if (scaled_state > now - this->period_start_time_) {
-    this->set_output_state_(true);
-  } else {
-    this->set_output_state_(false);
-  }
+  this->set_output_state_(now < this->period_start_time_ + scaled_state);
 }
 
 void SlowPWMOutput::dump_config() {
@@ -58,8 +60,15 @@ void SlowPWMOutput::dump_config() {
   if (this->turn_off_trigger_)
     ESP_LOGCONFIG(TAG, "  Turn off automation configured");
   ESP_LOGCONFIG(TAG, "  Period: %d ms", this->period_);
+  ESP_LOGCONFIG(TAG, "  Restart cycle on state change: %s", YESNO(this->restart_cycle_on_state_change_));
   LOG_FLOAT_OUTPUT(this);
 }
 
+void SlowPWMOutput::write_state(float state) {
+  this->state_ = state;
+  if (this->restart_cycle_on_state_change_)
+    this->period_start_time_ = millis();
+}
+
 }  // namespace slow_pwm
 }  // namespace esphome
diff --git a/esphome/components/slow_pwm/slow_pwm_output.h b/esphome/components/slow_pwm/slow_pwm_output.h
index d5c5883f25..be45736864 100644
--- a/esphome/components/slow_pwm/slow_pwm_output.h
+++ b/esphome/components/slow_pwm/slow_pwm_output.h
@@ -11,6 +11,10 @@ class SlowPWMOutput : public output::FloatOutput, public Component {
  public:
   void set_pin(GPIOPin *pin) { pin_ = pin; };
   void set_period(unsigned int period) { period_ = period; };
+  void set_restart_cycle_on_state_change(bool restart_cycle_on_state_change) {
+    restart_cycle_on_state_change_ = restart_cycle_on_state_change;
+  }
+
   /// Initialize pin
   void setup() override;
   void dump_config() override;
@@ -37,7 +41,7 @@ class SlowPWMOutput : public output::FloatOutput, public Component {
 
  protected:
   void loop() override;
-  void write_state(float state) override { state_ = state; }
+  void write_state(float state) override;
   /// turn on/off the configured output
   void set_output_state_(bool state);
 
@@ -48,7 +52,8 @@ class SlowPWMOutput : public output::FloatOutput, public Component {
   float state_{0};
   bool current_state_{false};
   unsigned int period_start_time_{0};
-  unsigned int period_{5000};
+  unsigned int period_;
+  bool restart_cycle_on_state_change_;
 };
 
 }  // namespace slow_pwm
diff --git a/tests/test3.yaml b/tests/test3.yaml
index d5df2ac3f2..b22ec72226 100644
--- a/tests/test3.yaml
+++ b/tests/test3.yaml
@@ -1148,6 +1148,7 @@ output:
     pin: GPIO5
     id: my_slow_pwm
     period: 15s
+    restart_cycle_on_state_change: false
   - platform: sm2135
     id: sm2135_0
     channel: 0